Equipment control method and device

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling equipment are provided. One of the method includes: acquiring distance data between a current position and a target position of transportation equipment; and controlling operations of the transportation equipment and a lifting device of the transportation equipment according to the distance data, comprising: determining, based on a current elevation of the lifting device, a target elevation of the lifting device, and the distance data, an elevating speed of the lifting device and a travel speed of the transportation equipment; and controlling the lifting device to elevate or lower at the elevating speed from the current elevation to the target elevation, and controlling the transportation equipment to travel at the travel speed.

What is claimed is: 
     
       1. A method for controlling equipment, comprising:
 acquiring distance data between a current position and a target position of transportation equipment; and 
 controlling operations of the transportation equipment and a lifting device of the transportation equipment according to the distance data, comprising:
 determining, based on a current elevation of the lifting device and the distance data, a target elevation of the lifting device, an elevating speed of the lifting device and a travel speed of the transportation equipment; and 
 according to a first distance, a second distance, or a third distance, controlling the lifting device to elevate or lower at the elevating speed from the current elevation to the target elevation, and controlling the transportation equipment to travel at the travel speed, wherein the first distance s1=L*v2/v1, the second distance s2=L*v2/v1+Δs, or the third distance s3=2L*v2/v1+Δs, and wherein L is a total height of the lifting device, v2 is a maximum travel speed of the transportation equipment, v1 is the elevating speed of the lifting device, and Δs is a distance adjustment constant. 
 
 
     
     
       2. The method according to  claim 1 , wherein the target position comprises at least one of a position of a pickup node, a position of a code scanning node, or a position of a receiving node, the pickup node includes a docking station, the code scanning node includes code scanning equipment, and the receiving node includes object collecting equipment. 
     
     
       3. method according to  claim 1 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the first distance and less than or equal to the second distance, controlling the lifting device to be elevated from the current elevation at the elevating speed, and controlling the transportation equipment to travel at the travel speed, wherein the current elevation of the lifting device is at the target elevation when the transportation equipment reaches the target position, and wherein the second distance is greater than the first distance. 
     
     
       4. The method according to  claim 3 , wherein if the current elevation of the lifting device is at the target elevation, controlling the lifting device to remain at the target elevation. 
     
     
       5. The method according to  claim 1 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the third distance, controlling the transportation equipment to travel at a first travel speed, and controlling the lifting device to be lowered from the current elevation to a lowest elevation at the elevating speed if the lifting device is not at the lowest elevation, wherein the third distance is greater than the second distance and the first distance. 
     
     
       6. The method according to  claim 1 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is less than the third distance, controlling the transportation equipment to travel at a second travel speed, wherein the second travel speed is less than a first travel speed, and the third distance is greater than the second distance and the first distance. 
     
     
       7. A system for controlling equipment, comprising a processor and a non-transitory computer-readable storage medium storing instructions executable by the processor to cause the system to perform operations comprising:
 acquiring distance data between a current position and a target position of transportation equipment; and 
 controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data, comprising: 
 determining, based on a current elevation of the lifting device and the distance data, a target elevation of the lifting device, an elevating speed of the lifting device and a travel speed of the transportation equipment; and 
 according to a first distance, a second distance, or a third distance, controlling the lifting device to elevate or lower at the elevating speed from the current elevation to the target elevation, and controlling the transportation equipment to travel at the travel speed, wherein the first distance s1=L*v2/v1, the second distance s2=L*v2/v1+Δs, or the third distance s3=2L*v2/v1+Δs, and wherein L is a total height of the lifting device, v2 is a maximum travel speed of the transportation equipment, v1 is the elevating speed of the lifting device, and Δs is a distance adjustment constant. 
 
     
     
       8. The system according to  claim 7 , wherein the target position comprises at least one of a position of a pickup node, a position of a code scanning node, or a position of a receiving node, the pickup node includes a docking station, the code scanning node includes code scanning equipment, and the receiving node includes object collecting equipment. 
     
     
       9. The system according to  claim 7 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the first distance and less than or equal to the second distance, controlling the lifting device to be elevated from the current elevation at the elevating speed, and controlling the transportation equipment to travel at the travel speed, wherein the current elevation of the lifting device is at the target elevation when the transportation equipment reaches the target position, and wherein the second distance is greater than the first distance. 
     
     
       10. The system according to  claim 9 , wherein if the current elevation of the lifting device is the target elevation, controlling the lifting device to remain at the target elevation. 
     
     
       11. The system according to  claim 7 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the third distance, controlling the transportation equipment to travel at a first travel speed, and controlling the lifting device to be lowered from the current elevation to a lowest elevation at the elevating speed if the lifting device is not at the lowest elevation, wherein the third distance is greater than the second distance and the first distance. 
     
     
       12. The system according to  claim 7 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is less than the third distance, controlling the transportation equipment to travel at a second travel speed, wherein the second travel speed is less than a first travel speed, and the third distance is greater than the second distance and the first distance. 
     
     
       13. A non-transitory computer-readable storage medium for controlling equipment, configured with instructions executable by one or more processors to cause the one or more processors to perform operations comprising:
 acquiring distance data between a current position and a target position of transportation equipment; and 
 controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data, comprising: 
 determining, based on a current elevation of the lifting device and the distance data, a target elevation of the lifting device, an elevating speed of the lifting device and a travel speed of the transportation equipment; and 
 according to a first distance, a second distance, or a third distance, controlling the lifting device to elevate or lower at the elevating speed from the current elevation to the target elevation, and controlling the transportation equipment to travel at the travel speed, wherein the first distance s1=L*v2/v1, the second distance s2=L*v2/v1+Δs, or the third distance s3=2L*v2/v1+Δs, and wherein L is a total height of the lifting device, v2 is a maximum travel speed of the transportation equipment, v1 is the elevating speed of the lifting device, and Δs is a distance adjustment constant. 
 
     
     
       14. The storage medium according to  claim 13 , wherein the target position comprises at least one of a position of a pickup node, a position of a code scanning node, or a position of a receiving node, the pickup node includes a docking station, the code scanning node includes code scanning equipment, and the receiving node includes object collecting equipment. 
     
     
       15. The storage medium according to  claim 13 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the first distance and less than or equal to the second distance, controlling the lifting device to be elevated from the current elevation at the elevating speed, and controlling the transportation equipment to travel at the travel speed, wherein the current elevation of the lifting device is at the target elevation when the transportation equipment reaches the target position, and wherein the second distance is greater than the first distance. 
     
     
       16. The storage medium according to  claim 13 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is greater than or equal to the third distance, controlling the transportation equipment to travel at a first travel speed, and controlling the lifting device to be lowered from the current elevation to a lowest elevation at the elevating speed if the lifting device is not at the lowest elevation, wherein the third distance is greater than the second distance and the first distance. 
     
     
       17. The storage medium according to  claim 13 , wherein the controlling operations of a lifting device of the transportation equipment and the transportation equipment according to the distance data comprises: if the distance data is less than the third distance, controlling the transportation equipment to travel at a second travel speed, wherein the second travel speed is less than a first travel speed, and the third distance is greater than the second distance and the first distance.